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고속 스테레오 매칭과 신경회로망에 의한 AGV의 물체인식
김기모(Kimo Kim),전성재(SungJea Jun),조연상(YonSang Cho),김동호(DongHo Kim),박흥식(HeungShik Park) 한국트라이볼로지학회 2005 한국트라이볼로지학회 학술대회 Vol.2005 No.11
Recently, the AGV system has been studied actively according to the progress of FMS in the industry, and it is a unit with the self-power to transport the materials between stations without the particular control by an operator. It is widely known that the AGV system is effective to increase the utility of manufacturing line and cut down personnel expenses. This System has several sensors to recognize the external state and it is designed to travel between stations without an external assistance. The genera) methods of obstacle detection for an AGV are to use kinds of sensors like an ultra-sonic, electromagnetic and laser sensor. But, these sensors have simple information of obstacles. Therefore, it is needed to fast stereo vision system by two CCD cameras for various information of obstacle such as distance, color and size. For the fast stereo vision, the developing high-speed template matching by color and shape of obstacle was used. This information to recognize an obstacles was studied by the neural network.